crankler / ikd-tree

This repository provides implementation of an incremental k-d tree for robotic applications.

ikd-Tree

ikd-Tree is an incremental k-d tree designed for robotic applications. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much lower computation time than existing static k-d trees. Besides point-wise operations, the ikd-Tree supports several features such as box-wise operations and down-sampling that are practically useful in robotic applications.

Developers

Yixi Cai 蔡逸熙: Data structure design and implementation

Wei Xu 徐威: Incorporation into LiDAR-inertial odometry package (FAST_LIO2 Released)

More details please refer to our paper and video~

Related paper

Related paper available on arxiv:

ikd-Tree: An Incremental K-D Tree for robotic applications

Related video: https://youtu.be/ueOunk03zxA

Version 2

• We upgraded our ikd-Tree to achieve a more stable and efficient performance. More details are shown as follows:
  • Replace the queue and priority queue in STL with our code to avoid memory conflicts.
  • Fix some bugs in re-building of the previous version, which may result in information loss during the multi-thread re-building process.
  • Add a new parameter max_dist to support ranged search to achieve faster nearest search in robotic applications.
  • Fix minor bugs to improve the overall performance.